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world.m
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world.m
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classdef world < dynamicprops % dynamicprops is subclass of handle
% world object - tracks actual state of simulation
properties (SetObservable = true)
time; % keep track of world time
end
properties
N=5; %size of grid
r; %rate constant for - events per unit time(world wide)
s; %size constant for exponential distribution of sizes
v; %rate constant for RAIN events - events per unit time (world wide)
cloudsize; %average size of rain event
A; %array of values for dirt levels
Moisture; %array of values for moisture level
vacuumArray; %array of object handles
sensor; % data as recorded on sensor
planner; % handle to planning processor
g_handle; %handle to worlddraw graph
expenditure; %cummulative funds expended since last reset
end
methods % methods
function a=world(r,s,v,cloudsize) % constructor (input rate and size constants)
a.time=0;
a.r=r;
a.s=s;
a.v=v;
a.cloudsize=cloudsize;
a.A=zeros(a.N);
a.Moisture=zeros(a.N);
end
function clean(a,x,y) % reset location x,y dirt level to 0
a.A(x,y)=0;
end
function inc(a) % single time step of simulated world
% dustfall procedure -----
t=a.time; % start time
T=t+1; % final time
tau=-log(rand(1))/a.r ; %time until first event
t=t+tau;
while t<T % accumulate dirt until next event falls past final time
dustball=-log(rand(1))*a.s; % dustball size
I=randi(a.N^2); %select site
a.A(I)=a.A(I)+dustball;
tau=-log(rand(1))/a.r ; %time until next event
t=t+tau;
end
% end dustfall
% drying
a.Moisture(a.Moisture>0)=a.Moisture(a.Moisture>0)-1;
% rainfall procedure -----
t=a.time; % start time
tau=-log(rand(1))/a.v ; %time until first event
t=t+tau;
while t<T % accumulate dirt until next event falls past final time
I=randi(a.N^2); %select site
a.Moisture(I)=a.Moisture(I)+ceil(2*rand(1)*a.cloudsize); %uniform 0% to 200% of average
tau=-log(rand(1))/a.v ; %time until next event
t=t+tau;
end
% end rainfall
a.time=T;
end
function draw(world) % produce standard three frame graphic
if isempty(world.g_handle) || ~ishandle(world.g_handle);
subplot(1,3,1)
imagesc(world.A')
vacs=world.vacuumArray;
for i=1:length(vacs);
vacs(i).draw
end
set(gca,'Xtick',1:world.N,'Ytick',1:world.N,'color',[0 0 1]);
gridxy((0:world.N)+.5,(0:world.N)+.5);
caxis([0 max(max(world.A(:)),max(world.sensor.array(:)))]);
colorbar
title(['real t=',num2str(world.time)]);
subplot(1,3,2)
imagesc(world.sensor.array')
vacs=world.vacuumArray;
for i=1:length(vacs);
vacs(i).draw
end
set(gca,'Xtick',1:world.N,'Ytick',1:world.N,'color',[0 0 1]);
gridxy((0:world.N)+.5,(0:world.N)+.5);
caxis([0 max(max(world.A(:)),max(world.sensor.array(:)))]);
colorbar
title('sensor')
subplot(1,3,3)
imagesc(world.planner.worldview')
vacs=world.vacuumArray;
for i=1:length(vacs);
vacs(i).draw
end
set(gca,'Xtick',1:world.N,'Ytick',1:world.N,'color',[0 0 1]);
gridxy((0:world.N)+.5,(0:world.N)+.5);
caxis([0 max(max(world.A(:)),max(world.sensor.array(:)))]);
colorbar
title('planner')
colormap('bone');c=colormap;colormap(flipud(c));
drawnow;
world.g_handle=gcf;
else
for i=1:length(world.vacuumArray);
v=findobj(world.g_handle,'string',num2str(i)); %handle to vacuum text
set(v,'position',[world.vacuumArray(i).xPos world.vacuumArray(i).yPos]);
set(v,'backgroundcolor',[.7 .7 .7]+[.3 -.5 -.5]*(world.vacuumArray(i).status==4));
end
C_des=[0 max(max(world.A(:)),max(world.sensor.array(:)))];
I=findobj(world.g_handle,'type','image'); %Image components
set(I(4),'CData',world.planner.worldview');
set(I(5),'CData',world.sensor.array','AlphaData',(world.sensor.Wet'==0));
set(I(6),'CData',world.A','AlphaData',(world.Moisture'==0));
ax=findobj(world.g_handle,'type','axes');
for i=4:6;caxis(ax(i),C_des);end
title(ax(6),['real t=',num2str(world.time)]);
drawnow;
end
end
end
end